Advice for Quadruped (QSR-X1)

Quadruped Robots

Re: Advice for Quadruped (QSR-X1)

Postby clh6685 » Sat Oct 08, 2016 9:19 am

Finally, I successfully develop my own IK ever since this project start 8 yrs ago with no intention to reach this level !
Still remember 8yrs ago inspired by Matt's awesome hexapod video.

Here to share the GUI for my quad and the first ever full IK test video.
IK all done by trigo formula, no matrix applied.

Image

Quadruped robot full IK test
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Re: Advice for Quadruped (QSR-X1)

Postby clh6685 » Wed Oct 12, 2016 2:11 pm

Got my lipo batt today. 7.4v 900mah.
After hook it up and tested.

1st fully mobile walk gait test
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Re: Advice for Quadruped (QSR-X1)

Postby clh6685 » Fri Oct 14, 2016 2:18 pm

next stage, hook this up! :ugeek:

Image
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Re: Advice for Quadruped (QSR-X1)

Postby clh6685 » Fri Oct 21, 2016 1:30 pm

Got my new servo controller board few days ago.
board spec:
48Mhz
32bit
16ch 12 bit PWM output (1uS resolution)
8ch 12bit analogue input
baud rate max 115200

Image

After customize some routine code to test the actual frame rate in 12ch using 115200 baud and tested with Bluetooth live data stream.
Result are satisfy. Servo frame update is about 50 frame/sec. Tested continues servo position change for one and half an hour data stream no problem.

Image
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Re: Advice for Quadruped (QSR-X1)

Postby clh6685 » Sun Oct 23, 2016 9:53 am

1st test on gamepad control XY translate & pitch roll rotate.

gamepad control quadruped testing
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Re: Advice for Quadruped (QSR-X1)

Postby clh6685 » Fri Oct 28, 2016 1:28 pm

Testing on new servo controller with 115200 baudrate.
Servo position update rate now is about 50/sec. 8-)

Full IK test with new servo controller
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Re: Advice for Quadruped (QSR-X1)

Postby Matt Denton » Mon Nov 07, 2016 5:14 pm

Well that all looking very impressive!!! :)
Matt Denton
AKA: Winchy_Matt

micromagic systems ltd
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Re: Advice for Quadruped (QSR-X1)

Postby clh6685 » Tue Nov 15, 2016 1:34 pm

Matt Denton wrote:Well that all looking very impressive!!! :)

:D thanks Matt!

Share this latest full function with game pad control.
full function demo
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Re: Advice for Quadruped (QSR-X1)

Postby clh6685 » Tue Dec 20, 2016 2:11 pm

first circular interpolation test
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Re: Advice for Quadruped (QSR-X1)

Postby pem » Wed Dec 21, 2016 6:09 pm

Very impressive work, congrats
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